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Mesh reconstruction update: fixed normals computation (with and without MLS)

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Mathieu Labbé
2015-08-11 17:19:12 -04:00
parent 9c653655bd
commit abdd3de773
16 changed files with 580 additions and 204 deletions
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corelib/src/util3d_transforms.cpp
+8
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@@ -51,6 +51,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
return output;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & transform)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
return output;
}
pcl::PointXYZ transformPoint(
const pcl::PointXYZ & pt,